Patent US4415975A successfully refreshed from Google Patents.
US4415975A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Apparatus and method for rough positioning a vehicle at a storage bin in an automatic storage and retrieval system
Assignee: MIDWEST CONVEYOR COMPANY Inc A CORP OF DEL
•
Filing: 1980-12-31
•
Granted: 1983-11-15
•
Expires: 2000-12-31
Abstract
Abstract An automatic storage and retrieval system including a storage bin, having a mechanism for positioning a vehicle at the storage bin including a rough positioning mechanism with an encoder having a rotatable member which rotates through an arc less than a complete revolution in response to movement of the vehicle and generates a signal with a different value at each of various member positions which correspond to respective vehicle rough position zones. A control device receives the signal and selectively causes the vehicle to move to a rough position zone at the storage bin. A fine positioning mechanism repositions the vehicle within a particular position zone after rough positioning and utilizes a light source and photoelectric sensor mounted on the vehicle for detecting a target mounted in a fixed relation with respect to the storage bin. The control mechanism receives an electrical signal generated by the photoelectric sensor and causes the vehicle to stop at the fine position location at the storage bin. A high-low positioning device selectively lowers and raises a carriage including a retrieval apparatus such as a fork assembly within the bin. A method is provided to utilize the automatic storage and retrieval system including rough and fine positioning of a vehicle relative to a storage bin and high-low positioning within the bin.
Inventors
- 👤 Harold S. Burt
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 18:07
CPC Classifications
G; G06; G06Q; G06Q10/00; G06Q10/08; B; B65; B65G; B65G1/00; B65G1/02; B65G1/04; B65G1/0407; B65G1/0421
Claims Analysis
Total Claims: 23
Claim 1
Independent Claim
159 words
A rough positioning method whereby a vehicle located at a start address is positioned in a rough position zone including a destination address, which comprises the steps of: (a) generating a signal having a first non-ambiguous binary value corresponding to said start address; (b) communicating said signal having said first value to control means for said vehicle; (c) receiving in said control means a second nonambiguous binary value corresponding to said destination address; (d) comparing in said control means said first and second values; (e) expanding said second value to a range of nonambiguous binary values corresponding to said rough position zone; (f) causing with said control means said vehicle to travel from said start address to said rough position zone; (g) generating a signal having a value within said range; and (h) communicating said signal having said value within said range to said control means whereby said vehicle is designated as being located in said rough position zone.
Claim 2
Dependent Claim
159 words
A rough positioning method whereby a vehicle located at a start address is positioned in a rough position zone including a destination address, which comprises the steps of: (a) generating a signal having a first non-ambiguous binary value corresponding to said start address; (b) communicating said signal having said first value to control means for said vehicle; (c) receiving in said control means a second nonambiguous binary value corresponding to said destination address; (d) comparing in said control means said first and second values; (e) expanding said second value to a range of nonambiguous binary values corresponding to said rough position zone; (f) causing with said control means said vehicle to travel from said start address to said rough position zone; (g) generating a signal having a value within said range; and (h) communicating said signal having said value within said range to said control means whereby said vehicle is designated as being located in said rough position zone.
Claim 3
Dependent Claim
34 words
The method according to claim 1 which includes the additional steps of: (a) receiving in said control means an indicia corresponding to said destination address; and (b) converting said indicia to said second value.
Claim 4
Dependent Claim
38 words
The method according to claim 1 which includes the additional steps of: (a) determining with said control means a travel direction for said vehicle; and (b) causing with said control means said vehicle to move in said direction.
Claim 5
Dependent Claim
38 words
The method according to claim 1 which includes the steps of: (a) determining with said control means a travel speed for said vehicle; and (b) causing with said control means said vehicle to travel at said travel speed.
Claim 6
Dependent Claim
24 words
The method according to claim 1 which includes the additional step of: (a) generating said signals with an encoder operably connected to said vehicle.
Claim 7
Dependent Claim
23 words
A method according to claim 1 which includes the step of: (a) storing said second value in a memory in said control means.
Claim 8
Dependent Claim
226 words
A rough positioning method wherein a vehicle located at a start address is positioned in a rough position zone including a destination address, which comprises the steps of: (a) generating a signal having a first non-ambiguous binary value corresponding to said start address; (b) communicating said signal having said first value to control means for said vehicle; (c) receiving in said control means an indicia corresponding to said destination address; (d) converting said indicia to a second non-ambiguous binary value corresponding to said destination address; (e) storing said second value in a memory in said control means; (f) comparing in said control means said first and second value; (g) expanding said second value to a range of nonambiguous binary values corresponding to said rough position zone; (h) determining with said control means a control direction for said vehicle; (i) causing with said control means said vehicle to move in said direction; (j) determining with said control means a travel speed for said vehicle; (k) causing said vehicle to travel in said direction at said travel speed from said start address to said rough position zone; (l) generating with said encoder a signal having a value within said range; and (m) communicating said signal having said value within said range to said control means whereby said vehicle is designated as being located in said rough position zone.
Claim 9
Dependent Claim
226 words
A rough positioning method wherein a vehicle located at a start address is positioned in a rough position zone including a destination address, which comprises the steps of: (a) generating a signal having a first non-ambiguous binary value corresponding to said start address; (b) communicating said signal having said first value to control means for said vehicle; (c) receiving in said control means an indicia corresponding to said destination address; (d) converting said indicia to a second non-ambiguous binary value corresponding to said destination address; (e) storing said second value in a memory in said control means; (f) comparing in said control means said first and second value; (g) expanding said second value to a range of nonambiguous binary values corresponding to said rough position zone; (h) determining with said control means a control direction for said vehicle; (i) causing with said control means said vehicle to move in said direction; (j) determining with said control means a travel speed for said vehicle; (k) causing said vehicle to travel in said direction at said travel speed from said start address to said rough position zone; (l) generating with said encoder a signal having a value within said range; and (m) communicating said signal having said value within said range to said control means whereby said vehicle is designated as being located in said rough position zone.
Claim 10
Dependent Claim
229 words
A rough positioning method whereby a carriage located at a start address is positioned in one of a bin high and a bin low destination address, which comprises the steps of: (a) generating a signal having a first non-ambiguous binary value corresponding to said start address; (b) communicating said signal having said first value to control means for said carriage; (c) receiving in said control means a second non-ambiguous binary value corresponding to said destination address; (d) comparing in said control means said first and second values; (e) determining if a load is present on said carriage; (f) biasing said second value to a bin high non-ambiguous binary value corresponding to said bin high rough position zone if a load is present on said carriage; (g) biasing said second value to a bin low non-ambiguous binary value corresponding to said bin low rough position zone if a load is not present on said carriage; (h) causing with said control means said carriage to move to one of said bin high and said bin low rough position zones to which said biased second value corresponds; (i) generating a signal having said biased second value; and (j) communicating said signal having said biased second value to said control means whereby said vehicle is designated as being located in said one of said bin high and said bin low rough position zones.
Claim 11
Dependent Claim
229 words
A rough positioning method whereby a carriage located at a start address is positioned in one of a bin high and a bin low destination address, which comprises the steps of: (a) generating a signal having a first non-ambiguous binary value corresponding to said start address; (b) communicating said signal having said first value to control means for said carriage; (c) receiving in said control means a second non-ambiguous binary value corresponding to said destination address; (d) comparing in said control means said first and second values; (e) determining if a load is present on said carriage; (f) biasing said second value to a bin high non-ambiguous binary value corresponding to said bin high rough position zone if a load is present on said carriage; (g) biasing said second value to a bin low non-ambiguous binary value corresponding to said bin low rough position zone if a load is not present on said carriage; (h) causing with said control means said carriage to move to one of said bin high and said bin low rough position zones to which said biased second value corresponds; (i) generating a signal having said biased second value; and (j) communicating said signal having said biased second value to said control means whereby said vehicle is designated as being located in said one of said bin high and said bin low rough position zones.
Claim 12
Dependent Claim
34 words
The method according to claim 8 which includes the additional steps of: (a) receiving in said control means an indicia corresponding to said destination address; and (b) converting said indicia to said second value.
Claim 13
Dependent Claim
38 words
The method according to claim 8 which includes the additional steps of: (a) determining in said control means a travel direction for said carriage; and (b) causing with said control means said carriage to move in said direction.
Claim 14
Dependent Claim
35 words
The method according to claim 8 which includes the additional steps of: (a) determining with said control means a travel speed for said carriage; and (b) causing said carriage to travel at said travel speed.
Claim 15
Dependent Claim
24 words
The method according to claim 8 which includes the additional step of: (a) generating said signals with an encoder operably connected to said carriage.
Claim 16
Dependent Claim
24 words
The method according to claim 8 which includes the additional step of: (a) storing said second value in a memory in said control means.
Claim 17
Dependent Claim
408 words
A rough positioning method whereby a vehicle located at a horizontal start address is positioned in a horizontal rough position zone including a horizontal destination address and a carriage vertically movably mounted on the vehicle and located at a vertical start address is positioned in one of a bin high rough position zone and a bin low rough position zone at a vertical destination address, which comprises the steps of: (a) generating a signal having a first non-ambiguous binary value corresponding to said horizontal start address; (b) communicating said signal having said first value to control means for said vehicle; (c) receiving in said control means a second non-ambiguous binary value corresponding to said horizontal destination address; (d) comparing in said control means said first and second horizontal values; (e) expanding said second value to a range of non-ambiguous binary values corresponding to said horizontal rough position zone; (f) causing with said control means said vehicle to travel from said horizontal start address to said horizontal rough position zone; (g) generating a signal having a value within said range; (h) communicating said signal having said value within said range to said control means whereby said vehicle is designated as being located in said horizontal rough position zone; (i) generating a signal having a first non-ambiguous binary value corresponding to said vertical start address; (j) communicating said signal having said first value to control means for said carriage; (k) receiving in said control means a second non-ambiguous binary value corresponding to said vertical destination address; (l) comparing in said control means said first and second vertical values; (m) determining if a load is present on said carriage; (n) biasing said second value to a bin high non-ambiguous binary value corresponding to said bin high rough position zone if a load is present on said carriage; (o) biasing said second value to a bin low non-ambiguous binary value corresponding to said bin low rough position zone if a load is not present on said carriage; (p) causing with said control means said carriage to move to one of said bin high and said bin low rough position zones to which said biased second value corresponds; (q) generating a signal having said biased second value; and (r) communicating said signal having said biased second value to said control means whereby said vehicle is designated as being located in said one of said bin high and said bin low rough position zones.
Claim 18
Dependent Claim
408 words
A rough positioning method whereby a vehicle located at a horizontal start address is positioned in a horizontal rough position zone including a horizontal destination address and a carriage vertically movably mounted on the vehicle and located at a vertical start address is positioned in one of a bin high rough position zone and a bin low rough position zone at a vertical destination address, which comprises the steps of: (a) generating a signal having a first non-ambiguous binary value corresponding to said horizontal start address; (b) communicating said signal having said first value to control means for said vehicle; (c) receiving in said control means a second non-ambiguous binary value corresponding to said horizontal destination address; (d) comparing in said control means said first and second horizontal values; (e) expanding said second value to a range of non-ambiguous binary values corresponding to said horizontal rough position zone; (f) causing with said control means said vehicle to travel from said horizontal start address to said horizontal rough position zone; (g) generating a signal having a value within said range; (h) communicating said signal having said value within said range to said control means whereby said vehicle is designated as being located in said horizontal rough position zone; (i) generating a signal having a first non-ambiguous binary value corresponding to said vertical start address; (j) communicating said signal having said first value to control means for said carriage; (k) receiving in said control means a second non-ambiguous binary value corresponding to said vertical destination address; (l) comparing in said control means said first and second vertical values; (m) determining if a load is present on said carriage; (n) biasing said second value to a bin high non-ambiguous binary value corresponding to said bin high rough position zone if a load is present on said carriage; (o) biasing said second value to a bin low non-ambiguous binary value corresponding to said bin low rough position zone if a load is not present on said carriage; (p) causing with said control means said carriage to move to one of said bin high and said bin low rough position zones to which said biased second value corresponds; (q) generating a signal having said biased second value; and (r) communicating said signal having said biased second value to said control means whereby said vehicle is designated as being located in said one of said bin high and said bin low rough position zones.
Claim 19
Dependent Claim
50 words
A method according to claim 14 which includes the additional steps of: (a) receiving in said control means an indicia corresponding to said horizontal destination address; (b) receiving in said control means an indicia corresponding to said vertical destination address; and (c) converting said indicia to said respective second values.
Claim 20
Dependent Claim
63 words
The method according to claim 14 which includes the additional steps of: (a) determining with said control means a travel direction for said vehicle; (b) causing with said control means said vehicle to move in said direction; (c) determining with said control means a travel direction for said carriage; and (d) causing with said control means said carriage to move in said direction.
Claim 21
Dependent Claim
65 words
The method according to claim 14 which includes the additional steps of: (a) determining with said control means a travel speed for said vehicle; (b) causing with said control means said vehicle to travel at said travel speed; (c) determining with said control means a travel speed for said carriage; and (d) causing with said control means said carriage to move at said travel speed.
Claim 22
Dependent Claim
34 words
The method according to claim 14 which includes the additional step of: (a) generating said signals with a horizontal encoder operably connected to said vehicle and a vertical encoder operably connected to said carriage.
Claim 23
Dependent Claim
24 words
The method according to claim 14 which includes the additional step of: (a) storing said second values in a memory in said control means.
References Cited (Backward Citations)
US3049247A
Cited
US3132753A
Cited
US3119501A
Cited
US3232455A
Cited
US3402836A
Cited
US3402835A
Cited
US3486640A
Cited
US3504245A
Cited
US3531705A
Cited
US3285437A
Cited
US3387723A
Cited
US3746189A
Cited
US3478254A
Cited
US3486092A
Cited
US3455468A
Cited
US3463566A
Cited
US3519151A
Cited
US3513993A
Cited
US3581915A
Cited
US3516557A
Cited
US3572484A
Cited
US3557974A
Cited
US3725867A
Cited
US3638575A
Cited
US3593863A
Cited
US3646890A
Cited
US3873902A
Cited
US3734310A
Cited
US3737056A
Cited
US3708077A
Cited
US3786929A
Cited
US3824020A
Cited
US3815084A
Cited
US3799057A
Cited
US3790005A
Cited
US3927773A
Cited
US3850105A
Cited
US3880307A
Cited
US3803561A
Cited
US3889169A
Cited
US3973685A
Cited
US4176996A
Cited
US4221998A
Cited
US4195347A
Cited
US4331417A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1986-11-14 | 1987-05-16 | 1987-11-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1990-11-14 | 1991-05-16 | 1991-11-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1994-11-14 | 1995-05-16 | 1995-11-15 | $7700.00 | Window Closed / Lapsed |